Digital Sidecar Data Sheet 2012 FIRST Robotics Competitionreference.team484.org/electronics/frc-digital... · WAGO 734-102 is the typical mating connector with wire size between 14

© FIRST 2012 FRC Digital Sidecar Component Datasheet Page 1 of 6

Digital Sidecar Data Sheet 2012 FIRST Robotics Competition


Digital Sidecar

Functional Description The Digital Sidecar is a breakout module that is designed to adapt a single cRIO 9403 32-channel digital

I/O module into a set of I/O that is familiar to robotics hobbyists.

Features The Digital Sidecar includes the following features:

10 PWM outputs for driving speed controllers such as IFI Victors and Luminary Jaguars and

servos such as the Hitec HS322HD

14 general purpose I/O (aka GPIO) lines with available 5V power for each

16 relay outputs (8 FORWARD and 8 REVERSE outputs) for driving relay controllers such as an IFI

Spike

I2C headers – one 2x4 pin header and one connector that is compatible with I2C-based Lego

NXT accessories

Robot Signal Light header for a robot status indicator

6V/3A buck power supply to power servos attached to the PWM outputs (with individual

jumpers for each PWM output to select application of power)

5V/3A buck power supply for DSC circuitry with excess power available at the GPIO and I2C

headers

Extra 5V and ground connections adjacent to GPIO1 for using a single row-header to create a SPI

interface (typically using GPIO1-4 for MOSI, MISO, SCLK and CS in addition to the supporting 5V

and ground connections)

Reverse-battery protection to prevent damage due to accidental reversal of applied power


Power is derived from a nominal 12V supply

DB37 connector for attachment to a cRIO 9403 32-channel digital I/O module

Pinout


PCB Reference Designator Name Description

J1 cRIO Connector A 37-line DB37 female connector for attaching the module to a cRIO 9403 32-channel digital I/O module (typically via ribbon or shielded cable)

J2-J11 PWM10…PWM1 PWM outputs for controlling speed controllers and servos. The header is a Molex P/N 22-23-2031 (or similar) with a friction locking feature which accepts any standard PWM cable in addition to many 0.1” spacing headers. The center pin is selectable for providing 6V power via adjacent jumper. The pin closest to the PCB’s edge is ground. The pin furthest from the PCB’s edge is the PWM output signal.

J12-J21 PWMx 6V Enable Install an 0.1” jumper on these headers to provide 6V power on the adjacent PWM output. ONLY INSTALL A JUMPER WHEN ATTEMPTING TO POWER SERVOS SUCH AS A HITEC HS322HD. SPEED CONTROLLERS ATTACHED TO THE PWM OUTPUTS MAY BE DAMAGED IF THE DSC ATTEMPTS TO PROVIDE 6V POWER ON THE CENTER PIN.

J22 Power Input Nominal 12V power input via WAGO 734-132. WAGO 734-102 is the typical mating connector with wire size between 14 and 20 AWG.

J23 Robot Signal Light A 2-pin Molex P/N 22-23-2021 header for providing power to an indicator light.

J24 I2C and spare I/O A 2x4 set of 0.1” pins with I2C, 5V, ground and 4 spare outputs.

J25 NXT I2C Header A Lego NXT-compatible I2C header for use with NXT-compatible I2C accessories.

J26 GPIO A 3x14 0.1” pin field for general purpose digital I/O with 5V available on the center pin, ground on the pin closest to the PCB’s edge and I/O signal on the pin furthest from the PCB’s edge.

J27 Extra 5V Header An extra pair of 0.1” pins for providing power and ground adjacent to GPIO1 (typically for creating a SPI-compatible interface using GPIO1-4 for MOSI, MISO, SCLK and CS)

J28 Relay Outputs A 3x8 0.1” pin field for driving relay modules. The pin closest to the PCB edge is ground, the center pin is REVERSE and the furthest pin is FORWARD.


Typical Application ** Always refer to FIRST rules for using this module in competition robots. The following sequence

describes an example application that may not fully comply with FIRST rules.

1) Apply power to the DSC via J22 from a 5A (or larger) breaker on the PD

2) Connect to a cRIO 9403 via 37-channel ribbon cable

3) Attach servos (eg Hitec HS322HD) to the PWM Outputs and place a corresponding jumper on

the 6V Enable header for the PWM Outputs

4) Attach speed controllers to the PWM Outputs (NO JUMPER FOR 6V ENABLE!)

5) Attach relay modules to the Relay Outputs

6) Attach a Robot Signal Light to the header

7) Attach I2C-compatible NXT accessories to the NXT port

8) Attach devices to the GPIO headers

Specifications

General Parameter Min Nom Max Units Description

PWM Output – Current

15 mA (source

and sink)

There are 330 Ohm series resistors in each output’s path. The outputs are buffered using a 74AC244 and a 74LVC2G125 with a 5V supply.

Relay Output – Current

7.5 mA (source

and sink)

There are 680 Ohm series resistors in each output’s path. The outputs are buffered using a pair of 74LV595s with a 5V supply.

GPIO – Pull-Ups

10 kOhms These signals are passed directly to the NI 9403 module without any series resistance but include pull-ups to 5V

I2C Pull-Ups 3.16 kOhms Pull-ups to 5V supply (included on the DSC) for I2C signals

Robot Signal Light – Voltage

Vin The Robot Signal Light is powered by the same voltage as passed to the DSC via power input connection

Robot Signal Light – Current

1.1 2.2 A Determined by a PTC for current-limiting, There is a snubber diode in parallel with the output header for protection from any load inductance.


6V Supply Parameter Min Nom Max Units Description

Input Voltage, Operational

6.7 12 15 V

Input Voltage, Survive

-25 25 V Limited by reverse battery protection FET

Undervoltage Lockout

6.3 6.5 V

Output Voltage, Unloaded

5.8 6 6.2 V

Ripple (pk-pk), 2A Load

22 100 mV

Per Cycle Current Limit

4 5 6 A

Continuous Current Limit

3 4 A

5V Supply Parameter Min Nom Max Units Description

Input Voltage, Operational

6.7 12 15 V

Input Voltage, Survive

-25 25 V Limited by reverse battery protection FET

Undervoltage Lockout

5.3 5.5 V

Output Voltage, Unloaded

4.8 5 5.2 V

Ripple (pk-pk), 2A Load

21 100 mV

Per Cycle Current Limit

4 5 6 A

Continuous Current Limit

3 4 A

Warnings Only install the jumpers for applying 6V power to the PWM Output headers for connecting to servos

such as a Hitec HS322HD. If the jumper is installed and the PWM Output is used to drive a speed

controller, the application of 6V power could damage the speed controller and/or DSC.


Troubleshooting and FAQ

Either or both of the power supply LEDs are out, but the power-in LED is on. Why?

Both of these supplies are internally protected against short circuits. It is possible to short one

without affecting the other, which may explain why one is not working.

Power off your robot – the offending element may be hot.

Examine your wiring and your module carefully for the short.

Why isn’t my servo motor moving?

Check to make sure that the PWM channel’s 6V selection jumper is inserted.

Check the 6V supply LED.

The PWM connectors have a locking tab. How do I use them?

They are Molex 22-23-2031 KK vertical friction locks.

You may use the same cables you have always used – The locking tab won’t get in your way, and

does add a small bit of friction to the connection.

For added security, use a Molex 2695, 6471, 7880, 4455 or 7720 series connector. We

recommend the 0022013037.

How do I build a cable for passing 12V power to the Digital Sidecar?

Take a color coded pair of 22AWG or better wire and cut to length

Optionally twist the pair now for better cable management.

Strip 7mm off the ends.

To insert wire into a WAGO 734-102 connector, push down on the actuation port in back with a

screw driver, or use an actuation lever.

Insert the positive wire in the right port of the WAGO 734-102 connector. Note: the correct

orientation can be verified by looking at the silk screen on the Digital Sidecar.

Insert the negative wire in the left port of the WAGO 734-102 connector.

Give a smart tug to verify the connection is secure.

Insert the WAGO 734-102 into the mating connector on the Digital Sidecar.


Mechanicals

Documents

Digital Sidecar Data Sheet 2012 FIRST Robotics Competitionreference.team484.org/electronics/frc-digital... · WAGO 734-102 is the typical mating connector with wire size between 14